uint8 NORM=0
uint8 BLANKET=1
uint8 STONE=2
uint8 TILE=3
uint8 PLASTIC=4
uint8 ASPHALT=5
uint8 METAL=6

uint8 P2P=0
uint8 SWEEP=1
uint8 WASH=2
uint8 POLISH=4
uint8 DISINFCET=8
uint8 RECHARGE=16

uint8 NEWBORN=0
uint8 FABRICATING=1
uint8 FABRICATED=2
uint8 EXECUTING=3
uint8 PAUSED=4
uint8 EXECUTED=5
uint8 RECLEANING=6
uint8 FINISHED=7
uint8 TERMINATED=8
uint8 ERROR=255

#   sweep_mode
uint8 NORMAL_CLEAN=0
uint8 PERIMETER_CLEAN=1
uint8 FUNCTION_CLEAN=2

uint64 father_id
uint8 sub_id

string meta_name
float32 estimated_coverage
float32 length
float32 local_spd
float32 time_estimate
uint8 floor_type
uint8 sweep_mode

float32 executed
uint8 exe_state
float32 time_elapsed
float32 path_width   #用于清扫覆盖率中路径宽度

nav_msgs/Path path
geometry_msgs/Polygon area